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Proceedings Papers

Proceedings Volume Cover
ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 21–24, 2016
Charlotte, North Carolina, USA
Conference Sponsors:
  • Design Engineering Division
  • Computers and Information in Engineering Division
ISBN:
978-0-7918-5015-2
Volume 5A: 40th Mechanisms and Robotics Conference

40th Mechanisms and Robotics Conference

Compliant Mechanisms and Micro/Nano Mechanisms (A. Midha Symposium)

Integrated Design of Compliant Mechanisms and Embedded Rotary Actuators and Bending Actuators for Motion Generation
Lin Cao, Wenjun (Chris) Zhang
IDETC-CIE 2016; V05AT07A001https://doi.org/10.1115/DETC2016-59012
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Topics: Actuators , Compliant mechanisms , Design , Optimization , Shapes , Additive manufacturing , Displacement , Finite element analysis , Topology
Bi-BCM: A Closed-Form Solution for Fixed-Guided Beams in Compliant Mechanisms
Fulei Ma, Guimin Chen
IDETC-CIE 2016; V05AT07A002https://doi.org/10.1115/DETC2016-59063
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Topics: Compliant mechanisms , Deflection , Stress , Buckling , Design , Microactuators , Thermomechanics
The Design and Prototyping of Complex Compliant Mechanisms via Multi-Material Additive Manufacturing Techniques
John A. Mirth
IDETC-CIE 2016; V05AT07A003https://doi.org/10.1115/DETC2016-59078
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Topics: Additive manufacturing , Compliant mechanisms , Design , Sheet metal , Modeling , Linkages , Manufacturing , Geometry , Clearances (Engineering) , Computer software
Design of Compliant Universal Joint With Linear Stiffness
Yan Xie, Bo Pan, Xu Pei, Jingjun Yu
IDETC-CIE 2016; V05AT07A004https://doi.org/10.1115/DETC2016-59110
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Topics: Design , Stiffness , Universal joints , Rotation , Lasers , Topology , Finite element analysis , Inertia (Mechanics)
Flexible Cellular Structures of a Non-Pneumatic Tire
Fanhao Meng, Dengfeng Lu, Jingjun Yu
IDETC-CIE 2016; V05AT07A005https://doi.org/10.1115/DETC2016-59124
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Topics: Tires , Degrees of freedom , Design methodology , Compliant mechanisms , Design , Finite element analysis , Stiffness
Mobility Analysis of Interconnected Hybrid Flexure Systems Using Screw Algebra and Graph Theory
Frederick Sun, Jonathan B. Hopkins
IDETC-CIE 2016; V05AT07A006https://doi.org/10.1115/DETC2016-59206
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Topics: Algebra , Bending (Stress) , Mechanical admittance , Screws , Space , Compliant mechanisms , Finite element analysis , Shapes
Design of a 2-DOF Flexure Platform for Unbalance Measurement
Hongzhe Zhao, Shuqing Zhang, Siyuan Ren, Xiaodong Zhou
IDETC-CIE 2016; V05AT07A007https://doi.org/10.1115/DETC2016-59223
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Topics: Bending (Stress) , Design , Finite element analysis , Flexure mechanisms , Actuators , Calibration , Control systems , Errors , Sensors , Springs
A Fully Compliant Force Balanced Oscillator
Sybren L. Weeke, Nima Tolou, Guy Semon, Just L. Herder
IDETC-CIE 2016; V05AT07A008https://doi.org/10.1115/DETC2016-59247
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Topics: Center of mass , Displacement , Engineering prototypes , Failure , Linkages , Momentum , Oscillating frequencies , Shapes , Vibration
Multibody-Based Topology Synthesis Method for Large Stroke Flexure Hinges
M. Naves, D. M. Brouwer, R. G. K. M. Aarts
IDETC-CIE 2016; V05AT07A009https://doi.org/10.1115/DETC2016-59287
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Topics: Bending (Stress) , Hinges , Topology , Blocks (Building materials) , Design , Flexure mechanisms , Shape optimization , Mode shapes , Optimization , Stiffness
Parameter Characterization for Elastic Energy Absorption of an Embedded Corrugated Wave Padding Concept
Sean S. Tolman, Amanda Beatty, Anton E. Bowden, Larry L. Howell
IDETC-CIE 2016; V05AT07A010https://doi.org/10.1115/DETC2016-59342
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Topics: Absorption , Cushioning materials , Waves , Finite element analysis , Testing , Deformation , Experimental design , Pressure , Shapes , Sports
The Design and Analysis of a Compliant Constant-Force Mechanism
Zhongtian Xie, Lifang Qiu
IDETC-CIE 2016; V05AT07A011https://doi.org/10.1115/DETC2016-59348
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Topics: Design , Finite element analysis , Displacement , Compliant mechanisms , End effectors , Errors , Robots
Nonlinear Deformation Analysis of Superelastic Flexure Hinges
Miao Yang, Junxian Lin, Zhijiang Du, Wei Dong
IDETC-CIE 2016; V05AT07A012https://doi.org/10.1115/DETC2016-59498
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Topics: Bending (Stress) , Deformation , Hinges , Finite element analysis , Rotation , Cantilever beams , Constitutive equations , Errors , Euler-Bernoulli beam theory , Shape memory alloys
A Material Selection and Design Method for Multi-Constraint Compliant Mechanisms
John Sessions, Nathan Pehrson, Kyler Tolman, Jonathan Erickson, David Fullwood, Larry Howell
IDETC-CIE 2016; V05AT07A013https://doi.org/10.1115/DETC2016-59582
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Topics: Compliant mechanisms , Design methodology , Design , Solar cell arrays , Torsion
A Lamina-Emergent Frustum Using a Bistable Collapsible Compliant Mechanism (BCCM)
Rami Alfattani, Craig Lusk
IDETC-CIE 2016; V05AT07A014https://doi.org/10.1115/DETC2016-59590
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Topics: Compliant mechanisms , Chain , Design , Shapes , Compression , Computer-aided design , Springs
A Passive Brace to Improve Activities of Daily Living Utilizing Compliant Parallel Mechanisms
J. B. Ring, Charles Kim
IDETC-CIE 2016; V05AT07A015https://doi.org/10.1115/DETC2016-59616
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Topics: Bracing (Construction) , Parallel mechanisms , Scoliosis , Compliant mechanisms , Screws , Deformation , Design , Failure , Finite element analysis , Kinematic analysis
Design of a Force Sensor Based on Flexure Beams With Piezoresistive and PVDF Elements
Yuzhang Wei, Qingsong Xu
IDETC-CIE 2016; V05AT07A016https://doi.org/10.1115/DETC2016-59759
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Topics: Bending (Stress) , Design , Force sensors , Sensors , Manipulators , Biological cells , Signals
Estimating Stress Bounds in Early-Stage Design of Distributed Compliant Mechanisms
Sreekalyan Patiballa, John Francis Shanley, Girish Krishnan
IDETC-CIE 2016; V05AT07A017https://doi.org/10.1115/DETC2016-59828
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Topics: Compliant mechanisms , Design , Stress , Topology , Manufacturing , Optimization , Stress concentration
Automated Mobility Analysis of Wire Flexure Systems
Sreeshankar Satheeshbabu, Girish Krishnan
IDETC-CIE 2016; V05AT07A018https://doi.org/10.1115/DETC2016-59830
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Topics: Bending (Stress) , Mechanical admittance , Wire , Flow (Dynamics) , Stress , Conceptual design , Geometry
Towards a Constraint-Based Design of Soft Mechanisms
Sreeshankar Satheeshbabu, Girish Krishnan
IDETC-CIE 2016; V05AT07A019https://doi.org/10.1115/DETC2016-59834
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Topics: Design , Fibers , Geometry , Robots , Anisotropy , Blocks (Building materials) , Deformation , Elastomers , Fluids , Materials properties
Optimization-Based Design for Specific Bistable Mechanics of Compliant Mechanisms
Jian Zhao, Renjing Gao, Shutian Liu, Yu Huang
IDETC-CIE 2016; V05AT07A020https://doi.org/10.1115/DETC2016-59884
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Topics: Compliant mechanisms , Design , Optimization , Design methodology , Computer simulation , Smart materials , Stress , Uncertainty
Modeling and Analysis of Beam Flexure Based Double Parallel Guiding Mechanisms: A Modified Pseudo-Rigid-Body Approach
Pengbo Liu, Peng Yan
IDETC-CIE 2016; V05AT07A021https://doi.org/10.1115/DETC2016-59897
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Topics: Bending (Stress) , Modeling , Finite element analysis , Springs , Stiffness , Stress , Compliant mechanisms , Deformation , Design , Errors
Design of a Compliant Endoscopic Ultrasound-Guided Radiofrequency Ablation Probe
Bradley W. Hanks, Mary Frecker, Matthew Moyer
IDETC-CIE 2016; V05AT07A022https://doi.org/10.1115/DETC2016-59923
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Topics: Design , Endoscopic devices , Probes , Radiofrequency ablation , Ultrasound , Ablation (Vaporization technology) , Cancer , Geometry , Surgery , Biological tissues
Compliant Mechanism Design Through Topology Optimization Using Pseudo-Rigid-Body Models
Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su
IDETC-CIE 2016; V05AT07A023https://doi.org/10.1115/DETC2016-59946
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Topics: Compliant mechanisms , Design , Optimization , Topology , Deformation , Finite element methods , Kinematics , Algebra , Euler-Bernoulli beam theory , Genetic algorithms
Shape-Morphing Space Frame (SMSF) Using Quadrilateral Bistable Unit-Cell Elements
Ahmad Alqasimi, Craig Lusk
IDETC-CIE 2016; V05AT07A024https://doi.org/10.1115/DETC2016-59959
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Topics: Shapes , Space frame structures , Disks , Design
Design of Four-Bar-Mechanism Stability Using Over-Constraint
Ahmad Alqasimi, Craig Lusk
IDETC-CIE 2016; V05AT07A025https://doi.org/10.1115/DETC2016-59960
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Topics: Design , Stability , Computer-aided design , Springs , Computer software , Geometry , Hinges , Potential energy , Stiffness
Towards Computer Aided Design and Analysis of Spatial Flexure Mechanisms
Omer Anil Turkkan, Hai-Jun Su
IDETC-CIE 2016; V05AT07A026https://doi.org/10.1115/DETC2016-59966
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Topics: Computer-aided design , Flexure mechanisms , Design , Algorithms , Bending (Stress) , Screws , Chain , Engineering systems and industry applications , Instrumentation , Linear systems
A Closed-Form Model for the Support Stiffness of Spatial Flexure Strips With Limited Twist
Marijn Nijenhuis, Dannis M. Brouwer
IDETC-CIE 2016; V05AT07A027https://doi.org/10.1115/DETC2016-59979
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Topics: Bending (Stress) , Stiffness , Strips , Deflection , Degrees of freedom , Stress , Dimensions , Equilibrium (Physics) , Flexure mechanisms
Development, Design and Application of a Fatigue Test Bench for High Precision Flexure Hinges
David Schoenen, Sascha Lersch, Mathias Hüsing, Burkhard Corves, Fritz Klocke, Lars Hensgen, Andreas Klink
IDETC-CIE 2016; V05AT07A028https://doi.org/10.1115/DETC2016-59989
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Topics: Bending (Stress) , Design , Fatigue testing , Hinges , Compliant mechanisms , Electrical discharge machining , Manufacturing , Stress , Cycles , Dimensions
Topology Optimization of Compliant Mechanisms Explicitly Considering Desired Kinematics and Stiffness Constraints
Alexander Hasse
IDETC-CIE 2016; V05AT07A029https://doi.org/10.1115/DETC2016-60496
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Topics: Compliant mechanisms , Kinematics , Optimization , Stiffness , Topology , Design , Displacement , Performance , Shape optimization , Shapes

Medical and Rehabilitation Robotics

Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection
Giuseppe Del Giudice, Nima Sarli, Stanley D. Herrell, Nabil Simaan
IDETC-CIE 2016; V05AT07A030https://doi.org/10.1115/DETC2016-59303
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Topics: Cancer , Design , Robots , Surgery , Architecture , Degrees of freedom , Engineering simulation , Kinematics , Maintainability , Simulation
Updating Virtual Fixtures From Exploration Data in Force-Controlled Model-Based Telemanipulation
Long Wang, Zihan Chen, Preetham Chalasani, Jason Pile, Peter Kazanzides, Russell H. Taylor, Nabil Simaan
IDETC-CIE 2016; V05AT07A031https://doi.org/10.1115/DETC2016-59305
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Topics: Ablation (Vaporization technology) , Bearings , Force control , Geometry , Robots , Shapes , Surgery
Quantification of Upper-Body Synergies: A Case Comparison for Stroke and Non-Stroke Victims
Omid Heidari, John O. Roylance, Alba Perez-Gracia, Eydie Kendall
IDETC-CIE 2016; V05AT07A032https://doi.org/10.1115/DETC2016-59314
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Topics: Chain , Degrees of freedom , Kinematics , Linkages , Principal component analysis , Tree (Data structure)
Design of a Virtual Reality Haptic Robotic Central Venous Catheterization Training Simulator
David Pepley, Mary Yovanoff, Katelin Mirkin, David Han, Scarlett Miller, Jason Moore
IDETC-CIE 2016; V05AT07A033https://doi.org/10.1115/DETC2016-59560
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Topics: Design , Haptics , Robotics , Virtual reality , Biomedicine , Students , Needles , Ultrasound , Anatomy , Catheters
Design and Analysis of Soft Pneumatic Sleeve for Arm Orthosis
Gaurav Singh, Chenzhang Xiao, Girish Krishnan, Elizabeth Hsiao-Wecksler
IDETC-CIE 2016; V05AT07A034https://doi.org/10.1115/DETC2016-59836
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Topics: Design , Fibers , Geometry , Modeling , Orthotics , Pneumatic actuators , Risk , Shapes , Stiffness , Stress
Design of Mechanism and Preliminary Field Validation of Low-Cost Transfemoral Rotator for Use in the Developing World
Matthew L. Cavuto, Matthew Chun, Nora Kelsall, Karl Baranov, Keriann Durgin, Michelle Zhou, V. N. Murthy Arelekatti, Amos G. Winter, V
IDETC-CIE 2016; V05AT07A035https://doi.org/10.1115/DETC2016-59913
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Topics: Design , Developing nations , Engineering prototypes , Feedback , Knee , Rotation , Testing
A Compact 2 Degree of Freedom Wrist for Robot-Actuated Surgery and Other Applications
Clayton L. Grames, Brian D. Jensen, Spencer P. Magleby, Larry L. Howell
IDETC-CIE 2016; V05AT07A036https://doi.org/10.1115/DETC2016-60070
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Topics: Degrees of freedom , Robots , Surgery , Cylinders , Manufacturing , Carbon nanotubes , Instrumentation , Rolling contact
Using Kinect to Capture Human Motion for Mechanism Synthesis, Motion Generation and Visualization
Anurag Purwar, Rumit Desai
IDETC-CIE 2016; V05AT07A037https://doi.org/10.1115/DETC2016-60499
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Topics: Visualization , B-splines , Computer-aided design , Kinematics , Robotics , Algorithms , Biomedicine , Computer software , Computers , Conceptual design
Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet
Kathryn M. Olesnavage, Amos G. Winter, V
IDETC-CIE 2016; V05AT07A038https://doi.org/10.1115/DETC2016-60565
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Topics: Artificial limbs , Design , Engineering prototypes , Errors , Optimization , Testing , Trajectories (Physics) , Springs , Stiffness , Weight (Mass)

Mobile Robots, Motion Planning, Dynamics and Control

Influence of the Trajectory Planning on the Accuracy of the Orthoglide 5-Axis
R. Jha, D. Chablat, F. Rouillier, G. Moroz
IDETC-CIE 2016; V05AT07A039https://doi.org/10.1115/DETC2016-59231
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Topics: Trajectories (Physics) , Errors , Manipulators , Robots , Design , Polynomials
A Comparative Study on the Pick-and-Place Trajectories for a Delta Robot
Zexiao Xie, Peixin Wu, Ping Ren
IDETC-CIE 2016; V05AT07A040https://doi.org/10.1115/DETC2016-59359
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Topics: Robots , Trajectories (Physics) , Computation , Cycles , Dynamic models , Energy consumption , Engineering prototypes , Optimization , Polynomials , Simulation
Extraction of Impact of Wind Turbulence on RC Helicopters Using Machine Learning
Anil Kumar, Pinhas Ben-Tzvi
IDETC-CIE 2016; V05AT07A041https://doi.org/10.1115/DETC2016-59384
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Topics: Helicopters , Machine learning , Turbulence , Wind , Telemetry , Vessels , Dynamics (Mechanics) , Ships , Wakes , Aerodynamics
Dead-Beat Control of Walking for a Torso-Actuated Rimless Wheel Using an Event-Based, Discrete, Linear Controller
Pranav A. Bhounsule, Ezra Ameperosa, Scott Miller, Kyle Seay, Rico Ulep
IDETC-CIE 2016; V05AT07A042https://doi.org/10.1115/DETC2016-59563
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Topics: Control equipment , Wheels , Engineering prototypes , Errors , Hardware , Limit cycles , Modeling , Poincaré maps , Robots , Steady state
Synthesis Design and Analysis of a Hybrid Controller for Robotic Arms
Dan Zhang, Bin Wei
IDETC-CIE 2016; V05AT07A043https://doi.org/10.1115/DETC2016-59658
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Topics: Control equipment , Design , Robotics , Hybrid control , Manipulators
Estimation of Balance Stability States for Legged Robotic Systems
Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim
IDETC-CIE 2016; V05AT07A044https://doi.org/10.1115/DETC2016-59676
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Topics: Robotics , Stability , Algorithms , Center of mass , Design , Equilibrium (Physics) , Optimization , State estimation
Automated Municipal Solid Waste Sorting for Recycling Using a Mobile Manipulator
Sathish Gundupalli Paulraj, Subrata Hait, Atul Thakur
IDETC-CIE 2016; V05AT07A045https://doi.org/10.1115/DETC2016-59842
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Topics: Manipulators , Municipal solid wastes , Recycling , Algorithms , Doors , Robotics , Support vector machines , Aluminum , Developing nations , Imaging
An Approach to Sorting Swarm Robots to Optimize Performance
Beining Shang, Richard M. Crowder, Klaus-Peter Zauner
IDETC-CIE 2016; V05AT07A046https://doi.org/10.1115/DETC2016-59984
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Topics: Robots , Robotics , Calibration , Density , Hardware , Robustness
A Semi-Autonomous Control Method to Improve Performance of Small Unmanned Ground Vehicles With Communication Latency
Justin Storms, Kevin Chen, Dawn Tilbury
IDETC-CIE 2016; V05AT07A047https://doi.org/10.1115/DETC2016-60006
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Topics: Vehicles , Collisions (Physics) , Feedback , Roads , Robots
Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control
Xu Zhou, Rui Liu, Jiucai Zhang, Xiaoli Zhang
IDETC-CIE 2016; V05AT07A048https://doi.org/10.1115/DETC2016-60060
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Topics: Sliding mode control , Stress , Control equipment , Simulation results , Stability , Uncertainty , Robustness , Trajectories (Physics)
Modeling Power Requirements for Skid-Steer Mobile Robots in Manufacturing Environments
Stephen L. Canfield, Tristan W. Hill, Stephen G. Zuccaro
IDETC-CIE 2016; V05AT07A049https://doi.org/10.1115/DETC2016-60152
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Topics: Manufacturing , Mobile robots , Modeling , Optimization , Energy consumption , Design , Dynamic models , Friction , Metal surfaces , Simulation
Kinematic Analysis of a Skid-Steer Mobile Robot Operating on Non-Planar Surfaces
Joshua Qualls, Stephen Canfield, Alexander Shibakov, Tristan Hill
IDETC-CIE 2016; V05AT07A050https://doi.org/10.1115/DETC2016-60303
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Topics: Kinematic analysis , Mobile robots , Kinematics , Manufacturing , Welding , Algebra , Construction , Differential equations , Hull , Inspection
Optimal Task Planning of Humanoid in Cluttered Environment
Hari Teja, Abhilash Balachandran, Suril V. Shah
IDETC-CIE 2016; V05AT07A051https://doi.org/10.1115/DETC2016-60545
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Topics: Algorithms , Chain , Collisions (Physics) , Degrees of freedom , Kinematics , Path planning , Redundancy (Engineering) , Robots , Simulation , Stability
RRT-HX: RRT With Heuristic Extend Operations for Motion Planning in Robotic Systems
Nahas Pareekutty, Francis James, Balaraman Ravindran, Suril V. Shah
IDETC-CIE 2016; V05AT07A052https://doi.org/10.1115/DETC2016-60547
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Topics: Path planning , Robotics
Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control
Lee-Huang Chen, Kyunam Kim, Ellande Tang, Kevin Li, Richard House, Alice M. Agogino, Adrian Agogino, Vytas Sunspiral, Erik Jung
IDETC-CIE 2016; V05AT07A053https://doi.org/10.1115/DETC2016-60550
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Topics: Design , Robots , Tensegrity , Cables , Tensegrity structures , Testing , Collaboration , Compression , Degrees of freedom , Engineering simulation

Novel Mechanisms, Robots and Applications

Design and Analysis of a Bat-Like Active Morphing Wing Mechanism
Nan Ma, Xiaodong Zhou, Guangping He, Jingjun Yu
IDETC-CIE 2016; V05AT07A054https://doi.org/10.1115/DETC2016-59111
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Topics: Design , Wings , Trajectories (Physics) , Aircraft , Computer software , Engines , Kinematics , Motors
Dynamic Characteristics Analysis of Cable-Rib Tension Deployable Antenna
Liu Ruiwei, Hongwei Guo, Zhang Qinghua, Rongqiang Liu, Tang Dewei
IDETC-CIE 2016; V05AT07A055https://doi.org/10.1115/DETC2016-59218
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Topics: Cables , Tension , Stiffness , Weight (Mass) , Design , Finite element model , Innovation , Metals , Vibration
Advanced Parallel Actuation of a Serial Robotic Leg
Nathan Cahill, Matthew Holgate, Kyle Schroeder, Thomas G. Sugar
IDETC-CIE 2016; V05AT07A056https://doi.org/10.1115/DETC2016-59268
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Topics: Robotics , Robots , Motors , Manipulators , Additive manufacturing , End effectors , Engineering prototypes , Equations of motion , Inertia (Mechanics) , Kinematics
Kinematics Analysis of a Snake Robot Module Using Screw Theory
Qing Xiao, Zhengcai Cao, Jian S. Dai
IDETC-CIE 2016; V05AT07A057https://doi.org/10.1115/DETC2016-59273
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Topics: Kinematics , Robots , Screws , Mechanical admittance , Anatomy , Bionics , Lie algebras , Motion control , Parallel mechanisms , Redundancy (Engineering)
Forward and Inverse Position Kinematics for the RRSSR Parallel Robot With Hardware Validation
Robert L. Williams, II, Ryan Lucas, J. Jim Zhu
IDETC-CIE 2016; V05AT07A058https://doi.org/10.1115/DETC2016-59290
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Topics: Hardware , Kinematics , Robots , Design , Servomotors , Simulation
Spatial 3-SUR 1-RU Platform Robot Inverse Orientation Kinematics
Robert L. Williams, II, Elvedin Kljuno, J. Jim Zhu
IDETC-CIE 2016; V05AT07A059https://doi.org/10.1115/DETC2016-59291
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Topics: Kinematics , Robots , Unmanned aerial vehicles , Actuators , Algorithms , Design , Flow (Dynamics) , Polynomials , Servomotors , Testing
Design and Analysis of a Miniature Modular Inchworm Robot
Wael Saab, Anil Kumar, Pinhas Ben-Tzvi
IDETC-CIE 2016; V05AT07A060https://doi.org/10.1115/DETC2016-59386
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Topics: Design , Robots , Anisotropy , Friction , Skin , Biomimetics , Engineering prototypes , Equations of motion , Mechanical structures , Modeling
Design and Analysis of a Discrete Modular Serpentine Robotic Tail for Improved Performance of Mobile Robots
Wael Saab, Pinhas Ben-Tzvi
IDETC-CIE 2016; V05AT07A061https://doi.org/10.1115/DETC2016-59387
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Topics: Design , Mobile robots , Robotics , Kinematics , Cables , Pulleys , Tension , Degrees of freedom , Dimensions , Engines
Design and Analysis of a Robotic Modular Leg Mechanism
Wael Saab, Pinhas Ben-Tzvi
IDETC-CIE 2016; V05AT07A062https://doi.org/10.1115/DETC2016-59388
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Topics: Design , Robotics , Robots , Actuators , Degrees of freedom , Engineering prototypes , Engineering simulation , Simulation , Suspension systems , Weight (Mass)
Robot Arm Platform for Additive Manufacturing Using Multi-Plane Toolpaths
Ismayuzri Bin Ishak, Joseph Fisher, Pierre Larochelle
IDETC-CIE 2016; V05AT07A063https://doi.org/10.1115/DETC2016-59438
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Topics: Additive manufacturing , Robots , Control equipment , Computer software , Degrees of freedom , Integrated systems , Modeling
Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper
Guochao Bai, Xianwen Kong, James Millar Ritchie
IDETC-CIE 2016; V05AT07A064https://doi.org/10.1115/DETC2016-59526
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Topics: Grippers , Kinematic analysis , Mesoscopic systems , Additive manufacturing , Design , Engineering prototypes , Linkages , Multimedia , Robotics , Shapes
Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion
Bob G. Bijlsma, Giuseppe Radaelli, Just L. Herder
IDETC-CIE 2016; V05AT07A065https://doi.org/10.1115/DETC2016-59549
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Topics: Design , Gravity (Force) , Pendulums , Gears , Gear trains , Rotation , Degrees of freedom , Engineering prototypes , Springs , Torsion
Development of Autonomous Robotic Cataract Surgery Device
Matthew Francom, Clinton Burns, Philip Repisky, Benjamin Medina, Alex Kinney, Erick Tello, Pinhas Ben-Tzvi
IDETC-CIE 2016; V05AT07A066https://doi.org/10.1115/DETC2016-59643
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Topics: Robotics , Surgery , Actuators , Construction , Design , Errors , Feedback , Parallel mechanisms , Rails , Reactor protection systems
A Novel Mechanism Model of Actual Precision Transmission Devices
Huimin Dong, Delun Wang, Zhi Wang, Yu Wu, Shudong Yu
IDETC-CIE 2016; V05AT07A067https://doi.org/10.1115/DETC2016-59674
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Topics: Errors , Geometry , Kinematics , Machine tools , Machining , Modeling , Rotors
A Novel Reconfigurable Modular Gripper for In-Hand Object Manipulation and Release With Appropriate Posture
Nahian Rahman, Luca Carbonari, Mariapaola D’Imperio, Carlo Canali, Darwin G. Caldwell, Ferdinando Cannella
IDETC-CIE 2016; V05AT07A068https://doi.org/10.1115/DETC2016-59837
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Topics: Grippers , Grasping , Design , Engineering prototypes , Inspection , Mechanical admittance , Simulation
A Single-DoF Self-Regulated Gravity Balancer for Adjustable Payload
Yu-Lin Chu, Chin-Hsing Kuo
IDETC-CIE 2016; V05AT07A069https://doi.org/10.1115/DETC2016-59930
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Topics: Gravity (Force) , Springs , Design , Cables , Actuators , Engineering prototypes , Sensors
Construction and Control of Surfaces via Deployable Mechanisms With Three Degrees of Freedom
Shengnan Lu, Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi
IDETC-CIE 2016; V05AT07A070https://doi.org/10.1115/DETC2016-59977
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Topics: Construction , Degrees of freedom , Linkages , Approximation , Civil engineering , Computer-aided design , Engineering simulation , Kinematics , Shapes , Simulation
DNA-Structured Linear Actuators
Kyle Zampaglione, Andrew P. Sabelhaus, Lee-Huang Chen, Alice M. Agogino, Adrian K. Agogino
IDETC-CIE 2016; V05AT07A071https://doi.org/10.1115/DETC2016-60291
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Topics: Actuators , DNA , Displacement , Engineering prototypes , Rails , Cables , Design , Robotics , Rotation , Stress
In-Hand Manipulation Primitives for a Minimal, Underactuated Gripper With Active Surfaces
Raymond R. Ma, Aaron M. Dollar
IDETC-CIE 2016; V05AT07A072https://doi.org/10.1115/DETC2016-60354
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Topics: Grippers , Belts , Conveyor systems , Design , Geometry , Rollers , Stability
Performance Characterization of Multifunctional Wings With Integrated Flexible Batteries for Flapping Wing Unmanned Air Vehicles
Alex Holness, Ella Steins, Hugh Bruck, Martin Peckerar, S. K. Gupta
IDETC-CIE 2016; V05AT07A073https://doi.org/10.1115/DETC2016-60379
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Topics: Performance characterization , Unmanned aerial vehicles , Wings , Flight , Density , Aerodynamics , Batteries , Fluid-dynamic forces , Lithium , Polymers
Using a Large 2 Degree of Freedom Tail for Autonomous Aerobatics on a Flapping Wing Unmanned Aerial Vehicle
Luke Roberts, Hugh Bruck, S. K. Gupta
IDETC-CIE 2016; V05AT07A074https://doi.org/10.1115/DETC2016-60387
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Topics: Degrees of freedom , Unmanned aerial vehicles , Wings , Flight
Kinematics and Statics Including Cable Sag for Large Cable-Suspended Robots
Dheerendra Sridhar, Robert L. Williams, II
IDETC-CIE 2016; V05AT07A075https://doi.org/10.1115/DETC2016-60495
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Topics: Cables , Kinematics , Robots , Statics , Modeling , Simulation , Computation , Errors , Optimization , Redundancy (Engineering)
Instrumenting a Flapping Wing Air Vehicle System for Free Flight Measurement
John Gerdes, Hugh A. Bruck, Satyandra K. Gupta
IDETC-CIE 2016; V05AT07A076https://doi.org/10.1115/DETC2016-60571
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Topics: Flight , Vehicles , Wings , Design , Aerodynamics , Fluid structure interaction , Kinematics , Modeling , Motors , Propulsion
Parametric Study of the Swimming Performance of a Novel Robot Fish With Active Compliant Propulsion Mechanism
Yong Zhong, Ruxu Du
IDETC-CIE 2016; V05AT07A077https://doi.org/10.1115/DETC2016-60575
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Topics: Propulsion , Robots , Wire , Design methodology , Fins , Innovation
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